CN106078716A - A kind of have the snake-shaped robot boring ground function - Google Patents
A kind of have the snake-shaped robot boring ground function Download PDFInfo
- Publication number
- CN106078716A CN106078716A CN201610436568.7A CN201610436568A CN106078716A CN 106078716 A CN106078716 A CN 106078716A CN 201610436568 A CN201610436568 A CN 201610436568A CN 106078716 A CN106078716 A CN 106078716A
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- CN
- China
- Prior art keywords
- housing
- casing
- motor
- snake
- electric motors
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses a kind of snake-shaped robot having and boring ground function, during work, the first second housing remains stationary as state, first motor rotates, the first housing and bit is driven by output shaft, the linear electric motors catch bar elongation being arranged between casing, the first housing is promoted to creep into forward, the helical blade of the second surface of shell does not rotate as support chip simultaneously, reaction of bearing is provided, first housing travels forward and stops after a segment distance s, now motor the first housing remains stationary as state, second motor starts to rotarily drive the second housing and rotates, linear electric motors take-off lever reclaims, the second housing is pulled to travel forward, stop motion after second housing advance same distance s.When needs turning or pitching, the output length of different linear electric motors can be controlled according to the size of required turning and luffing angle, realize moving accordingly.The present invention is safe and reliable, simple, it is achieved that the brill ground function of snake-shaped robot.
Description
Technical field
The invention discloses a kind of snake-shaped robot having and boring ground function, being specifically related to one can be at underground, sand
The environment such as ground creep into the snake-shaped robot of motion.
Background technology
Along with the development of science and technology, snake-shaped robot is as the flexible robot of Novel moveable.With it, there is multistep
State motor capacity and can adapt to the feature of environment complicated and changeable, becomes a study hotspot of robot field, particularly
Snake-shaped robot be prone to camouflage, disguised high, close structure and the feature such as highly integrated so that it is disclosure satisfy that scoutings, go on patrol
Deng military requirement, and self-contained image capture device can be utilized to complete scouting appoint by rendering to enemy position in the air
Business, following snake-shaped robot can also be provided with certain ammunition and completes the tasks such as attack or self-destruction.
The most existing have bore robot " Dioscorea nipponica Mak. Ningpo Yam Rhizome " the job that requires special skills robot of ground function and beat for Watership Down
The move in mud robot dragged for, this type of robot uses and pneumatically or hydraulically drives, and structure all uses reciprocating impact extruding earth advance,
Energy consumption is higher, reliability is relatively low, and control system is complicated, serious engineering constraint practical application.The snake-shaped robot developed at present, greatly
Majority designs for ground motion and climbing sports, does not possess brill ground function, and following in the face of military surveillance, rescue and relief work etc.
Extraordinary complex task, in underground, motion is a critical function, therefore designs a burrowing robot simple, reliable
There is real engineering demand.
Chinese patent literature 201510046831.7 is disclosed " wriggling burrowing robot ", electronic pushes away including be sequentially connected with
Linkage, motor steering mechanism, drill bit mechanism, the outer wall of described electric pushrod mechanism and drill bit mechanism is provided with a use respectively
In the scale device opening and shrinking, electric pushrod mechanism period stretch, scale device opens under the effect of soil body power or receives
Contracting, for providing the reaction of bearing of drilling direction, turning to of motor steering mechanism regulation drill bit mechanism, this burrowing robot has one
Individual significant drawbacks is exactly scale when opening contraction, needs to overcome bigger soil resistance, and the required greatly energy consumption of lifting surface area is very big, and
And scale is also easier to damage, and not having loosening device when boring ground, resistance is bigger.Currently not yet there are other efficient, simple
Single, rational burrowing robot.
Summary of the invention
The technical issues that need to address of the present invention are: existing snake-shaped robot mainly realizes ground motion function and climbing
Function, the overwhelming majority does not bore ground function, existing wriggling burrowing robot when realizing movement underground, overcome resistance relatively big,
Energy consumption is higher, scale is easily damaged, and practicality is the strongest.For the deficiency of existing burrowing robot, the brill ground Serpentis that the present invention provides
Anthropomorphic robot, has the features such as simple in construction, reliability is high, motion is flexible.
The technical scheme is that a kind of have bore ground function snake-shaped robot, including drill bit the 1, first housing 2,
Second housing 9, helical blade 3, sleeve the 4, first motor the 6, second motor the 10, first casing the 16, second casing 11, oscillating bearing
12 and linear electric motors 13；Drill bit 1 and the first housing 2 connect, and the first housing 2 is internal is provided with sleeve 4, and the first housing 2 is not connected with boring
One end of 1 connects the first casing 16, is provided with the first motor 6, the output shaft of the first motor 6 and sleeve logical in the first casing 16
Cross bonded, the first housing 2 and the first casing 16 are connected；One end that second housing 9 is relative with the first housing 2 connects second
Casing 11, is provided with the second motor 10 in the second casing 11, be provided with sleeve 4, the output shaft of the second motor 10 and set in the second housing 9
Second housing 9 and the second casing 11, by bonded, are connected by cylinder 4；Four described linear electric motors 13 are positioned at the first casing 16 He
Between second casing 11 and uniform along the axis circumference of the first housing 2；It is tied with spiral on first housing 2 and the second housing 9 outer wall
Blade 3；First housing 2 rotates under the first motor 6 drives, and drives drill bit 1 axial advancement under linear electric motors 13 act on；
During the first housing 2 stop motion, the second housing 9 rotates under the second motor 10 effect, and by linear electric motors 13 band trend first
Housing 2 is drawn close；By controlling the output length of four described linear electric motors 13 linearly motor take-off levers, turning of complete cost apparatus
Curved or elevating movement.
The further technical scheme of the present invention is: connecting between said two casing has eyelid covering 14, is used for keeping out extraneous soil
Earth, the grains of sand.
The further technical scheme of the present invention is: being equipped with oscillating bearing in said two casing, linear electric motors are connected to
Oscillating bearing.
The further technical scheme of the present invention is: the motor in said two casing is connected in casing by screw.
The further technical scheme of the present invention is: described drill bit 1 and the first housing 2 are for bonding.
The further technical scheme of the present invention is: the connection of the first housing 2 and the first casing 16 is by sleeve 4 and first
Motor 6 output shaft bonded and connect.
The further technical scheme of the present invention is: the connection of described second casing 11 and the second housing 9 is by sleeve 4 He
Second motor 10 output shaft bonded and connect.
The further technical scheme of the present invention is: when housing motion, helical blade act as loosen soil, auger
Enter；When housing stationary is motionless, helical blade is played a supporting role.
Invention effect
The method have technical effect that: the present invention uses Auger drilling principle, utilize helical blade to divide at different conditions
Shi Xian not creep into and support function, rely on the motive force of linear electric motors, under both jointly effect, realize boring ground function, wherein also
Can be different by the output length of linear electric motors, realize turning and the pitching of snake-shaped robot, present configuration is simple, energy consumption
Relatively low, it is suitable for moving at the underground structure such as soil, sand ground, there is future bigger application to engineering practice prospect.
Accompanying drawing explanation
Fig. 1 be of the present invention bore ground snake-shaped robot.
Wherein: 1 drill bit, 2 first housings, 3 helical blades, 4 sleeves, 5 first motor output shafts, 6
One motor, 7 screws, 8 motor mounting racks, 9 second housings, 10 second motors, 11 second casings, 12 joints
Bearing, 13 linear electric motors, 14 eyelid coverings, 15 linear electric motors take-off levers, 16 first casings.
Detailed description of the invention
A kind of have a snake-shaped robot boring ground function, mainly by drill bit the 1, first housing 2, helical blade 3, sleeve 4, the
One motor output shaft the 5, first motor 6, screw 7, motor mounting rack the 8, second housing the 9, second motor the 10, second casing 11,
Oscillating bearing 12, linear electric motors 13, eyelid covering 14, linear electric motors take-off lever the 15, first casing 16 form.Operationally, first
Two housings 9 remain stationary as state, and the first motor 6 rotates, and drive the first housing 2 and drill bit 1 to revolve by the first motor output shaft 5
Turning, drill bit and the first case bonding are fixed, and the linear electric motors 13 being arranged between two casings are started working, and linear electric motors export
Bar 15 stretches out, and promotes the first casing to advance, the first housing is fixed with sleeve 4, the first casing and the first housing defeated by motor
Shaft and sleeve bonded and link together, therefore the first casing advances and promotes the first housing to creep into forward, the first housing
Helical blade rotate loosen the soil and casting backward, the helical blade on the second housing 9 surface is as support chip simultaneously, it is provided that support make
With, allow linear electric motors promote the first housing to advance, the first housing 2 travel forward and stop after a segment distance s (by peripheral control unit without
Line traffic control), now the first motor 6 quits work, and the first housing 2 remains stationary as state, and the second motor 10 starts to rotate and pass through
Output shaft drives the second housing 9 to rotate, and the take-off lever of linear electric motors shrinks and drives the second casing 11 to travel forward, the second casing band
Dynamic second housing travels forward, and now the helical blade of the first housing 2 provides reaction of bearing, and the second housing 9 advances same distance s
Rear stop motion.So far a motion cycle terminates, and repeats this motor process subsequently and can creep into always.Linear electric motors push away
Dynamic device is made up of oscillating bearing 12, linear electric motors 13, linear electric motors take-off lever 15, and casing is installed oscillating bearing, straight-line electric
Connected by oscillating bearing between machine and casing.
Connect between two casings and have eyelid covering 14, during underground is crept into, external environment and internal medium are separated, prevents
Soil enters in robot body, affects robot and normally works.First motor and the second motor mounting rack 8 are arranged on casing
In, the first and second motors are identical, and linear electric motors are to promote housing to advance, and are connected between two casings, totally 4 and type
As number, 90 ° of uniform placements, first motor the second motor is arranged on box body wall, drives housing to rotate and uses screw 7 to fix
On box body wall.
Below in conjunction with the accompanying drawings the present invention is explained in detail:
Refering to Fig. 1, of the present invention bore ground snake-shaped robot, mainly by drill bit the 1, first housing 2, helical blade 3,
Sleeve the 4, first motor output shaft the 5, first motor 6, screw 7, motor mounting rack the 8, second housing the 9, second motor 10, second
Casing 11, oscillating bearing 12, linear electric motors 13, eyelid covering 14, linear electric motors take-off lever the 15, first casing 16 form.
Work process is as described below, and when moving along a straight line, the first second motor 10 does not work and makes the second housing 9 keep
Motionless state, the first motor 6 rotates, and drives the first housing 2 and drill bit 1 to rotate by the first motor output shaft 5, drill bit and
One case bonding is fixed, and the linear electric motors being arranged between two casings are started working, and linear electric motors take-off lever 15 extends, and promotes
First casing 16 advances, and the first housing is fixed with sleeve 4, the first casing and the first housing by motor output shaft and sleeve
Bonded and link together, therefore the first casing advances and promotes the first housing to creep into forward, the spiral shell on the second housing 9 surface simultaneously
Vane sheet is as support chip, it is provided that supporting role, and the helical blade on the first housing 2 rotates and loosens the soil and casting backward, straight-line electric
Machine promotes the first housing 2 to travel forward after a segment distance s to stop, and now the first motor 6 quits work, and the first housing 2 is protected
Holding motionless state, the second motor 10 starts to rotate and drive the second housing to rotate by the output shaft of the second motor, linear electric motors
Retraction take-off lever, pulls the second casing 11 to travel forward, and the second casing drives the second housing to advance, the now spiral of the first housing
Blade provides a supporting role, and the helical blade of the second housing rotates and loosens the soil and casting backward, after the second housing advance same distance s
Stop motion.So far a motor process terminates, and repeats this motor process subsequently and can creep into always.When needs turn or
During person's pitching, the output length of 4 linear electric motors can be controlled according to required turning and luffing angle, realize transporting accordingly
Dynamic.When needing, the linear electric motors take-off lever extension elongation on right side can be allowed to be more than left side linear electric motors take-off lever extension elongation,
Difference according to both sides extension elongation difference, it is possible to achieve different angle of turn, when in like manner turning right, left side linear electric motors take-off lever is stretched
Go out length more than right side linear electric motors take-off lever extension elongation.Needs steeve motion time, can allow downside linear electric motors take-off lever
Extension elongation is more than upside linear electric motors take-off lever extension elongation, according to both sides linear electric motors take-off lever extension elongation difference not
Steeving angle with, it is possible to achieve difference, when in like manner bending down motion, upside linear electric motors take-off lever extension elongation is more than downside straight line
Motor take-off lever extension elongation.
Linear electric motors are connected by oscillating bearing and former and later two casings, and linear electric motors can promote housing to advance, it is possible to real
Now turning elevating movement, linear electric motors provide relatively high thrust, promote housing to overcome resistance to advance.
Connect between two casings and be enclosed with eyelid covering 14, by the extraneous soil of eyelid covering isolation and robot interior environment,
Prevent the foreign material such as soil from affecting motor work, and eyelid covering has scalability, is similar to rubber band, when snake-shaped robot moves
Time, along with two housing distance changes, eyelid covering stretches.
Claims (8)
1. one kind has the snake-shaped robot boring ground function, it is characterised in that include drill bit (1), the first housing (2), the second shell
Body (9), helical blade (3), sleeve (4), the first motor (6), the second motor (10), the first casing (16), the second casing (11),
Oscillating bearing (12) and linear electric motors (13)；Drill bit (1) and the first housing (2) connect, and the first housing (2) is internal is provided with sleeve
(4), the first housing (2) is not connected with one end connection of drill bit (1) the first casing (16), is provided with the first electricity in the first casing (16)
First housing (2) and the first casing (16), by bonded, are connected by machine (6), the output shaft of the first motor (6) and sleeve；The
One end that two housings (9) are relative with the first housing (2) connects has the second casing (11), the second casing to be provided with the second motor in (11)
(10), being provided with sleeve (4) in the second housing (9), the output shaft of the second motor (10) and sleeve (4) are by bonded, by second
Housing (9) and the second casing (11) connect；Four described linear electric motors (13) are positioned at the first casing (16) and the second casing (11)
Between, and uniform along the axis circumference of the first housing (2)；It is tied with helical blade on first housing (2) and the second housing (9) outer wall
(3)；First housing (2) rotates under the first motor (6) drives, and drives drill bit (1) axle under linear electric motors (13) act on
March forward；During the first housing (2) stop motion, the second housing (9) rotates under the second motor (10) acts on, and by linear electric motors
(13) band trend the first housing (2) is drawn close；By controlling the output of four described linear electric motors (13) linearly motor take-off levers
Length, the turning of complete cost apparatus or elevating movement.
A kind of have bore ground function snake-shaped robot, it is characterised in that said two casing it
Between connect and have eyelid covering (14), be used for keeping out extraneous soil, the grains of sand.
A kind of have the snake-shaped robot boring ground function, it is characterised in that in said two casing
Being equipped with oscillating bearing, linear electric motors are connected to oscillating bearing.
A kind of have the snake-shaped robot boring ground function, it is characterised in that in said two casing
Motor be connected in casing by screw.
A kind of have bore ground function snake-shaped robot, it is characterised in that described drill bit (1) and
First housing (2) is bonding.
A kind of have bore ground function snake-shaped robot, it is characterised in that the first housing (2) and
The connection of the first casing (16) is to be connected by the bonded of sleeve (4) and the first motor (6) output shaft.
A kind of have the snake-shaped robot boring ground function, it is characterised in that described second casing
(11) connection of and the second housing (9) is to be connected by the bonded of sleeve (4) and the second motor (10) output shaft.
A kind of have the snake-shaped robot boring ground function, it is characterised in that when housing motion,
Helical blade act as loosen soil, Auger drilling；When housing stationary is motionless, helical blade is played a supporting role.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610436568.7A CN106078716A (en) | 2016-06-17 | 2016-06-17 | A kind of have the snake-shaped robot boring ground function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610436568.7A CN106078716A (en) | 2016-06-17 | 2016-06-17 | A kind of have the snake-shaped robot boring ground function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106078716A true CN106078716A (en) | 2016-11-09 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610436568.7A Pending CN106078716A (en) | 2016-06-17 | 2016-06-17 | A kind of have the snake-shaped robot boring ground function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106078716A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106703684A (en) * | 2017-02-22 | 2017-05-24 | 武汉科技大学 | Underground drilling robot |
| CN107187568A (en) * | 2017-06-14 | 2017-09-22 | 桂林电子科技大学 | A kind of move in mud robot under water of imitative earthworm |
| CN108266194A (en) * | 2016-12-30 | 2018-07-10 | 天津市沃德美嘉科技有限公司 | A kind of steering structure of shield machine |
| WO2021237442A1 (en) * | 2020-05-26 | 2021-12-02 | 于宙 | Ground drilling robot, tunnel forming method, and coulter apparatus |
| CN115180046A (en) * | 2022-09-14 | 2022-10-14 | 浙大城市学院 | Four-screw propulsion cylinder all-terrain walking robot |
| WO2023082168A1 (en) * | 2021-11-12 | 2023-05-19 | 于宙 | Drilling robot and ground excavation-free method for laying pipeline |
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| CN203601545U (en) * | 2013-11-10 | 2014-05-21 | 佳木斯大学 | Move-in-mud robot with double helix blades |
| CN104653111A (en) * | 2015-01-29 | 2015-05-27 | 同济大学 | Self-balancing multi-spiral ground drilling robot |
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| US20080217498A1 (en) * | 2007-02-27 | 2008-09-11 | Carnegie Mellon University | Multi-linked device having a reinforcing member |
| CN203127006U (en) * | 2013-03-27 | 2013-08-14 | 刘禹豪 | Serpentine-spiral-propulsion disaster rescue and search robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108266194A (en) * | 2016-12-30 | 2018-07-10 | 天津市沃德美嘉科技有限公司 | A kind of steering structure of shield machine |
| CN106703684A (en) * | 2017-02-22 | 2017-05-24 | 武汉科技大学 | Underground drilling robot |
| CN107187568A (en) * | 2017-06-14 | 2017-09-22 | 桂林电子科技大学 | A kind of move in mud robot under water of imitative earthworm |
| WO2021237442A1 (en) * | 2020-05-26 | 2021-12-02 | 于宙 | Ground drilling robot, tunnel forming method, and coulter apparatus |
| WO2023082168A1 (en) * | 2021-11-12 | 2023-05-19 | 于宙 | Drilling robot and ground excavation-free method for laying pipeline |
| CN115180046A (en) * | 2022-09-14 | 2022-10-14 | 浙大城市学院 | Four-screw propulsion cylinder all-terrain walking robot |
| CN115180046B (en) * | 2022-09-14 | 2022-11-25 | 浙大城市学院 | Four-screw propulsion cylinder all-terrain walking robot |
| US11685041B1 (en) | 2022-09-14 | 2023-06-27 | Hangzhou City University | Robot having four screw propeller barrels and walking on all terrain |
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Application publication date: 20161109 |